CN110948509A - Manipulator anchor clamps and robot - Google Patents
Manipulator anchor clamps and robot Download PDFInfo
- Publication number
- CN110948509A CN110948509A CN201911215964.7A CN201911215964A CN110948509A CN 110948509 A CN110948509 A CN 110948509A CN 201911215964 A CN201911215964 A CN 201911215964A CN 110948509 A CN110948509 A CN 110948509A
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- mounting plate
- clamping jaw
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- clamping
- manipulator
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- 230000000007 visual effect Effects 0.000 claims abstract description 30
- 238000000034 method Methods 0.000 claims abstract description 5
- 230000003014 reinforcing effect Effects 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
A manipulator clamp and a robot, the manipulator clamp comprises a clamping jaw mounting mechanism, a clamping jaw, a visual position compensation system and a control unit, the clamping jaw mounting mechanism and the visual position compensation system are mounted on a manipulator, the clamping jaw is mounted on the clamping jaw mounting mechanism, the visual position compensation system and the manipulator are respectively connected with the control unit, the visual position compensation system is used for shooting an image of an object to be clamped in the clamping process of moving the clamping jaw by the manipulator and transmitting the image to the control unit, the control unit is used for positioning the position of the object to be clamped relative to the clamping jaws according to the image shot by the visual position compensation system, and controlling the manipulator to compensate the moving position of the clamping jaw according to the positioning condition so that the clamping jaw can accurately clamp the object to be clamped. Compared with the prior art, the clamping device can clamp products conveniently, quickly, accurately and safely.
Description
Technical Field
The present invention relates to a robot apparatus, and more particularly, to a robot hand jig and a robot.
Background
The joint robot is one of the more common forms of industrial robots in the industrial field at present, and is suitable for mechanical automation operation in various industrial fields, such as: automatic assembly, painting, carrying, welding and the like. Among them more common and widely used is six-axis robot, which provides higher production motion flexibility. The gripper of such six-axis robot relies on self-positioning by the control program of the robot arm, but when the product size or position is not the same, positioning of the robot arm becomes complicated and troublesome. When the sizes or positions of the products clamped twice are different, the positioning of the product by the manipulator is difficult to achieve accurately, so that the problem of inaccurate clamping is caused, the clamping efficiency is difficult to improve, and even the hidden trouble of product damage exists.
The above background disclosure is only for the purpose of assisting understanding of the inventive concept and technical solutions of the present invention, and does not necessarily belong to the prior art of the present patent application, and should not be used for evaluating the novelty and inventive step of the present application in the case that there is no clear evidence that the above content is disclosed at the filing date of the present patent application.
Disclosure of Invention
The invention mainly aims to overcome the defects of the prior art and provide a manipulator clamp which can clamp a product more conveniently, quickly and accurately and a robot with the manipulator clamp.
In order to achieve the purpose, the invention adopts the following technical scheme:
a manipulator clamp is used for clamping a product under the driving of a manipulator and comprises a clamping jaw mounting mechanism, a clamping jaw, a visual position compensation system and a control unit, the clamping jaw mounting mechanism and the visual position compensation system are mounted on the manipulator, the clamping jaw is mounted on the clamping jaw mounting mechanism, the visual position compensation system and the manipulator are respectively connected with the control unit, the visual position compensation system is used for shooting an image of an object to be clamped in the clamping process of moving the clamping jaw by the manipulator and transmitting the image to the control unit, the control unit is used for positioning the position of the object to be clamped relative to the clamping jaws according to the image shot by the visual position compensation system, and controlling the manipulator to compensate the moving position of the clamping jaw according to the positioning condition so that the clamping jaw can accurately clamp the object to be clamped.
Further:
the visual position compensation system is mounted on the jaw mounting mechanism.
Clamping jaw installation mechanism is including setting up the terminal clamping jaw mounting panel of manipulator, the clamping jaw is installed the bottom of clamping jaw mounting panel, vision position compensation system with the cantilever type structure that the clamping jaw mounting panel links to each other sets up the outside of clamping jaw mounting panel, just cantilever type structure makes through the configuration vision position compensation system's shooting direction with the vertical direction of clamping jaw mounting panel is unanimous, with the direction of opening and shutting of clamping jaw is mutually perpendicular.
Cantilever type structure includes camera, light source, vision mounting panel, camera connecting plate and camera mounting panel, the vision mounting panel is installed the side of clamping jaw mounting panel, the camera mounting panel passes through the camera connecting plate with the vision mounting panel is connected, the camera is fixed on the camera mounting panel, the light source is fixed on the vision mounting panel.
Cantilever type structure is still including connecting the vision mounting panel with the vision reinforcing plate of clamping jaw mounting panel, the vision mounting panel is vertical install in the side of clamping jaw mounting panel, the vertical setting of vision reinforcing plate is in the top surface of clamping jaw mounting panel wholly is right angled triangle or right trapezoid, the bottom of vision reinforcing plate with the clamping jaw mounting panel links to each other, the lateral part of vision reinforcing plate with the vision mounting panel links to each other.
The cantilever type structure further comprises a light source mounting plate fixed at the lower end of the visual mounting plate, and the light source is mounted on the light source mounting plate and located on the outer side of the camera.
The light source mounting plate is an annular structure surrounding the periphery of the camera, and the light source mounted on the light source mounting plate of the annular structure forms a light source surrounding the camera.
The clamping jaw comprises a clamping jaw cylinder, a first clamping block assembly and a second clamping block assembly, the clamping jaw cylinder is fixed to the bottom of the clamping jaw mounting plate, a first piston assembly and a second piston assembly are arranged at two ends of the clamping jaw cylinder respectively, the first clamping block assembly and the second clamping block assembly are coupled with the first piston assembly and the second piston assembly respectively, the first piston assembly and the second piston assembly are driven to move under the conditions that the clamping jaw cylinder is close to or far away from the lower portion of the clamping jaw cylinder, and clamping cushion blocks are arranged on opposite faces of the first clamping block assembly and the second clamping block assembly respectively.
The manipulator clamp comprises two groups of clamping jaws symmetrically arranged at two ends of the bottom of the clamping jaw mounting plate.
The visual position compensation system includes a CCD (charge coupled device) camera.
A robot is provided with the manipulator clamp.
The invention has the following beneficial effects:
the invention provides a manipulator clamp which is convenient to use, simple and flexible and a robot with the manipulator clamp, wherein a visual position compensation system connected with a control unit is arranged, an image of an object to be clamped is shot by the visual position compensation system in the clamping process of moving a clamping jaw by a manipulator and is transmitted to the control unit, the control unit positions the object to be clamped relative to the clamping jaw according to the image shot by the visual position compensation system, the manipulator is controlled to perform moving position compensation on the clamping jaw according to the positioning condition, the clamping jaw can be enabled to accurately clamp the object to be clamped, and the clamping speed and the clamping efficiency are improved. The manipulator clamp can realize accurate positioning of various products such as an SMT laser template and the like, thoroughly solves the problems that when the sizes or positions of the products are different, the positioning of the products is difficult to realize accurately, the clamping is inaccurate, the clamping efficiency is low, the hidden danger of damaging the products and the like, and completes the convenient, quick, accurate and safe clamping of the products. Moreover, the manipulator clamp disclosed by the invention is simple in structural design and easy to manufacture and use.
In a preferred version, further advantages which can be achieved with the present invention will be apparent from the examples.
Drawings
Fig. 1 is a schematic structural diagram of a robot and a manipulator fixture thereof according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a robot clamp according to an embodiment of the present invention.
Fig. 3 is a schematic view of a jaw structure of a robot clamp according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for either a fixed function or a circuit/signal communication function.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
As shown in fig. 1 to 2, an embodiment of the present invention provides a manipulator clamp 1, configured to clamp a product under the driving of a manipulator 2, where the manipulator clamp 1 includes a jaw mounting mechanism, a jaw 11, a visual position compensation system, and a control unit, where the jaw mounting mechanism and the visual position compensation system are mounted on the manipulator 2, the jaw 11 is mounted on the jaw mounting mechanism, the visual position compensation system and the manipulator 2 are respectively connected to the control unit, the visual position compensation system is configured to capture an image of an object to be clamped during the clamping process when the manipulator 2 moves the jaw 11, and transmit the image to the control unit (not shown), the control unit is configured to position the object to be clamped relative to the jaw 11 according to the image captured by the visual position compensation system, and controlling the manipulator 2 to compensate the moving position of the clamping jaw 11 according to the positioning condition, so that the clamping jaw 11 can accurately and quickly clamp the object to be clamped.
In an exemplary embodiment, the robot 2 may be a six-axis robot, but the present invention does not limit the type of robot. The visual position compensation system may employ a CCD (charge coupled device) camera, but the present invention does not limit the type of camera.
As shown in fig. 1-2, in a preferred embodiment, the visual position compensation system is mounted on the jaw mounting mechanism, indirectly on the robot 2 via the jaw mounting mechanism.
Referring to fig. 2, in a more preferred embodiment, the clamping jaw mounting mechanism includes a clamping jaw mounting plate 12 disposed at the end of the manipulator 2, the clamping jaw 11 is mounted at the bottom of the clamping jaw mounting plate 12, the visual position compensation system is disposed at the outer side of the clamping jaw mounting plate 12 in a cantilever structure connected to the clamping jaw mounting plate 12, and the cantilever structure is configured to make the shooting direction of the visual position compensation system coincide with the vertical direction of the clamping jaw mounting plate 12 (i.e. the end axial direction of the manipulator) and be perpendicular to the opening and closing motion directions of the clamping block assembly of the clamping jaw 11.
Referring to fig. 2, in a more preferred embodiment, the cantilevered structure includes a camera 17, a light source 18, a vision mounting plate 14, a camera attachment plate 15, and a camera mounting plate 16, the vision mounting plate 14 being mounted on the side of the jaw mounting plate 12, the camera mounting plate 16 being connected perpendicularly to the vision mounting plate 14 by the camera attachment plate 15. The camera 17 is fixed to the camera mounting plate 16 and the light source 18 is fixed to the vision mounting plate 14.
In a more preferred embodiment, as shown in fig. 2, the cantilever-type structure further includes a vision reinforcing plate 13 connecting the vision mounting plate 14 and the jaw mounting plate 12, the vision mounting plate 14 is vertically mounted on a side surface of the jaw mounting plate 12, the vision reinforcing plate 13 is vertically disposed on a top surface of the jaw mounting plate 12, and is generally in a right triangle or right trapezoid shape, a bottom of the vision reinforcing plate 13 is connected to the jaw mounting plate 12, and a side of the vision reinforcing plate 13 is connected to the vision mounting plate 14.
Referring to fig. 1-2, in a preferred embodiment, the cantilevered structure further includes a light source mounting plate 19 fixed to a lower end of the vision mounting plate 14, and the light source 18 is mounted on the light source mounting plate 19, outside the camera 17.
Referring to fig. 2, in a more preferred embodiment, the light source mounting plate 19 is a ring-shaped structure surrounding the periphery of the camera 17, and the light sources 18 mounted on the light source mounting plate 19 of the ring-shaped structure form a light source surrounding the camera 17.
As shown in fig. 2 to 3, in a preferred embodiment, the clamping jaw 11 includes a clamping jaw cylinder 111, a first clamping block assembly and a second clamping block assembly, the clamping jaw cylinder 111 is fixed at the bottom of the clamping jaw mounting plate 12, a first piston assembly and a second piston assembly are respectively disposed at two ends of the clamping jaw cylinder 111, the first clamping block assembly and the second clamping block assembly are respectively coupled to the first piston assembly and the second piston assembly, and are driven by the first piston assembly and the second piston assembly to move toward or away from each other below the clamping jaw cylinder 111, and clamping pads 114 are respectively disposed on opposite surfaces of the first clamping block assembly and the second clamping block assembly. The clamping pad 114 may be made of a resilient cushioning material such as rubber. The clamp of this embodiment is designed, and simple structure is compact, and the product is got to the clamp convenient and reliable.
In the preferred embodiment, as shown in figure 2, the robot clamp 1 comprises two sets of jaws 11 symmetrically disposed at the bottom ends of the jaw mounting plate 12.
Referring to fig. 1 to 3, in another embodiment, a robot has a robot gripper 1 according to any one of the embodiments.
The features and operation of particular embodiments of the present invention are further described below in conjunction with the following figures.
The utility model provides a manipulator anchor clamps of embodiment, this manipulator anchor clamps 1 are fixed and are served and carry out the operation at the operation of six-axis manipulator 2, and manipulator anchor clamps 1 has two sets of clamping jaws 11, and clamping jaw 11 can open and close so as to press from both sides and get products such as SMT steel mesh and carry out product processing. The manipulator fixture 1 is provided with a CCD vision system. Utilize CCD visual system can discern the position of SMT steel mesh and shoot, then carry out position compensation by the control unit control manipulator 2 to the accurate location of anchor clamps 1 when can realizing pressing from both sides and getting.
The jaw mounting plate 12 acts as a base for the robot clamp 1 and connects the jaws 11 of the robot clamp 1 to the CCD vision system. The clamping jaw 11 is arranged on a clamping jaw mounting plate 12. A set of clamping jaws 11 are respectively arranged on the left and the right of the clamping jaw mounting plate 12, and each set of clamping jaws 11 comprises a clamping jaw air cylinder 111, a mounting block 112, a clamping block 113 and a clamping cushion block 114. The clamping jaw cylinder 111 is arranged on the clamping jaw mounting plate 12, the clamping jaw cylinder 111 is connected with the mounting block 112, the clamping block 113 is arranged on the mounting block 112, the clamping block 113 is provided with a clamping cushion block 114, and the clamping cushion block 114 is made of high-strength rubber materials so as to increase the friction force during clamping. When the clamping jaw cylinder 111 is closed, the mounting blocks 112 on the two sides are close to the middle, and the clamping block 113 and the cushion block 114 are driven to close to the middle, so that the SMT steel mesh can be firmly clamped.
The CCD vision system is installed on the clamping jaw mounting plate 12, the vision mounting plate 14 is installed on the side face of the clamping jaw mounting plate 12, and the vision reinforcing plate 13 is connected with the vision mounting plate 14 and the clamping jaw mounting plate 12. The camera mounting plate 16 is connected with the vision mounting plate 14 through the camera connecting plate 15, the camera 17 is fixed on the camera mounting plate 16, the light source mounting plate 19 is arranged at the lower end of the vision mounting plate 14, and the light source 18 is arranged on the light source mounting plate 19. When the manipulator 2 moves above the SMT steel mesh, the light source 18 is turned on, the camera 17 shoots the product, the system control unit analyzes the position of the product according to the shot image, and the manipulator 2 is controlled to perform position compensation. Therefore, the products can be accurately positioned under the conditions of different positions, and the products can be conveniently and accurately clamped.
The foregoing is a more detailed description of the invention in connection with specific/preferred embodiments and is not intended to limit the practice of the invention to those descriptions. It will be apparent to those skilled in the art that various substitutions and modifications can be made to the described embodiments without departing from the spirit of the invention, and these substitutions and modifications should be considered to fall within the scope of the invention. In the description herein, references to the description of the term "one embodiment," "some embodiments," "preferred embodiments," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Claims (10)
1. The utility model provides a manipulator anchor clamps for press from both sides the product and get under the drive of manipulator, its characterized in that, including clamping jaw installation mechanism, clamping jaw, vision position compensation system and the control unit, clamping jaw installation mechanism with vision position compensation system installs on the manipulator, the clamping jaw is installed on clamping jaw installation mechanism, vision position compensation system with the manipulator respectively with the control unit is connected, vision position compensation system is used for the manipulator removes the clamping jaw is got the in-process and is shot and is waited to press from both sides the image of getting the object and convey the control unit, the control unit is used for according to the image pair that vision position compensation system shot the object is got for the position of clamping jaw is fixed a position to it is right according to the location condition the manipulator is right the clamping jaw removes position compensation, so that the clamping jaws can accurately clamp the object to be clamped.
2. The robot clamp of claim 1, wherein the visual position compensation system is mounted on the jaw mounting mechanism.
3. The robot clamp of claim 2, wherein the jaw mounting mechanism includes a jaw mounting plate disposed at an end of the robot, the jaws are mounted at a bottom of the jaw mounting plate, the visual position compensation system is disposed at an outer side of the jaw mounting plate in a cantilever structure connected to the jaw mounting plate, and the cantilever structure is configured such that a photographing direction of the visual position compensation system coincides with a vertical direction of the jaw mounting plate and is perpendicular to an opening and closing direction of the jaws.
4. The robot clamp of claim 3, wherein the cantilevered structure includes a camera, a light source, a vision mounting plate, a camera attachment plate, and a camera mounting plate, the vision mounting plate being mounted to a side of the jaw mounting plate, the camera mounting plate being connected to the vision mounting plate through the camera attachment plate, the camera being secured to the camera mounting plate, the light source being secured to the vision mounting plate.
5. The robot clamp of claim 4, wherein the cantilevered structure further comprises a vision reinforcing plate connecting the vision mounting plate and the clamping jaw mounting plate, the vision mounting plate is vertically mounted on a side surface of the clamping jaw mounting plate, the vision reinforcing plate is vertically disposed on a top surface of the clamping jaw mounting plate, the vision reinforcing plate is generally in a right triangle shape or a right trapezoid shape, a bottom portion of the vision reinforcing plate is connected to the clamping jaw mounting plate, and a side portion of the vision reinforcing plate is connected to the vision mounting plate.
6. The robot clamp of claim 4, wherein the cantilever structure further comprises a light source mounting plate fixed to a lower end of the vision mounting plate, the light source being mounted on the light source mounting plate outside the camera, preferably the light source mounting plate is a ring structure surrounding a periphery of the camera, the light source mounted on the light source mounting plate of the ring structure forming a light source surrounding the camera.
7. The robot clamp of any one of claims 1 to 6, wherein the clamping jaw comprises a clamping jaw cylinder, a first clamping block assembly and a second clamping block assembly, the clamping jaw cylinder is fixed at the bottom of the clamping jaw mounting plate, a first piston assembly and a second piston assembly are respectively arranged at two ends of the clamping jaw cylinder, the first clamping block assembly and the second clamping block assembly are respectively coupled with the first piston assembly and the second piston assembly, the first clamping block assembly and the second clamping block assembly move close to or away from each other under the clamping jaw cylinder under the driving of the first piston assembly and the second piston assembly, and clamping cushion blocks are respectively arranged on opposite surfaces of the first clamping block assembly and the second clamping block assembly.
8. The robot clamp of claim 7, including two sets of said jaws symmetrically disposed at opposite ends of a bottom of said jaw mounting plate.
9. The robot gripper of any of claims 1 to 7, wherein the visual position compensation system comprises a CCD camera.
10. A robot characterized by having a manipulator clamp according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911215964.7A CN110948509A (en) | 2019-12-02 | 2019-12-02 | Manipulator anchor clamps and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911215964.7A CN110948509A (en) | 2019-12-02 | 2019-12-02 | Manipulator anchor clamps and robot |
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| CN110948509A true CN110948509A (en) | 2020-04-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911215964.7A Pending CN110948509A (en) | 2019-12-02 | 2019-12-02 | Manipulator anchor clamps and robot |
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| CN (1) | CN110948509A (en) |
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| CN111618850A (en) * | 2020-05-12 | 2020-09-04 | 大捷智能科技(广东)有限公司 | Two-shaft feeding manipulator and position control method thereof |
| CN112260036A (en) * | 2020-10-10 | 2021-01-22 | 山东电力研究院 | Automatic wiring device, robot and method for distribution transformer detection |
| CN115258654A (en) * | 2022-07-19 | 2022-11-01 | 深圳市博辉特科技有限公司 | Automatic get and put radiator fan tong mechanism |
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